IAI America SSEL - Manual (Page 294)

272
Part 2 Programs
2. Multi-Tasking
“Multi-tasking” operation may not be a familiar term, but it is widely used in computer programming to refer
to parallel processing. Simply put, multi-tasking means running several programs in parallel.
Take a screw-tightening robot, for example.
In general, a screw-tightening robot consists of axis-1 and axis-2 actuators and a screw-tightening
machine (up/down air cylinder, etc.).
Operation Flow
Although the flow chart is simple, the movement of axis-1 and axis 2 actuators and the operation of the
parts feeder must take place simultaneously. This requires “multi-tasking” operation.
Move
Tighten screw
Move XY
Tighten screw
Parts feeder prepares screws
Parts feeder prepares screws
Start Program 1
Move
Tighten screw
Move
Tighten screw
Program 2 Start
Parts feeder ON
Screw
preparation OK
Parts feeder OFF
Shortage
of screws
Timer